Dianjun Wang, Xiaofan Yang, Ya Chen, Zilong Wang, Zhongkang Song, Zhikun Zhu, Peng Wang
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引用次数: 0
Abstract
Background: The application of hydrogen-powered vehicles is increasingly widespread, however, the hydrogen-filling process can be dangerous, to ensure both safety and efficiency. A new robotic hydrogen-filling system whose consisting of a hybrid robot combined with an automatic guided vehicle and robotic arm is designed. Methods: An analysis of functional composition of the system was performed, and the hardware scheme was designed. A dual-differential drive AGV and an end effector including a holding jaw and a sucker were designed. According to the system workflow, the control system is divided into four modules. A path planning simulation considering obstacle avoidance is carried out based on improved artificial potential field method and a trajectory planning of the operating arm is completed using source code written in MATLAB. Results: The simulation results show that the automatic guided vehicle can avoid obstacles and move to the specified position. The planed trajectory for robotic arm has certain smoothness, which can be proved that the operating arm can complete the process of grasping the hydrogenation gun. Conclusions: The robotic hydrogen-filling system can replace human beings in most of the work of the hydrogen-filling process, which provides a theoretical basis for automatic hydrogen refueling station.
期刊介绍:
Cobot is a rapid multidisciplinary open access publishing platform for research focused on the interdisciplinary field of collaborative robots. The aim of Cobot is to enhance knowledge and share the results of the latest innovative technologies for the technicians, researchers and experts engaged in collaborative robot research. The platform will welcome submissions in all areas of scientific and technical research related to collaborative robots, and all articles will benefit from open peer review.
The scope of Cobot includes, but is not limited to:
● Intelligent robots
● Artificial intelligence
● Human-machine collaboration and integration
● Machine vision
● Intelligent sensing
● Smart materials
● Design, development and testing of collaborative robots
● Software for cobots
● Industrial applications of cobots
● Service applications of cobots
● Medical and health applications of cobots
● Educational applications of cobots
As well as research articles and case studies, Cobot accepts a variety of article types including method articles, study protocols, software tools, systematic reviews, data notes, brief reports, and opinion articles.